diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp | 86 |
1 files changed, 64 insertions, 22 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp index f74261d4b21..3268f06c2f9 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp @@ -511,7 +511,6 @@ namespace gjkepa2_impl { btVector3 n; btScalar d; - btScalar p; sSV* c[3]; sFace* f[3]; sFace* l[2]; @@ -657,7 +656,7 @@ namespace gjkepa2_impl remove(m_hull,best); append(m_stock,best); best=findbest(); - if(best->p>=outer.p) outer=*best; + outer=*best; } else { m_status=eStatus::InvalidHull;break; } } else { m_status=eStatus::AccuraryReached;break; } } else { m_status=eStatus::OutOfVertices;break; } @@ -696,6 +695,42 @@ namespace gjkepa2_impl m_result.p[0]=1; return(m_status); } + bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist) + { + const btVector3 ba = b->w - a->w; + const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane + const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required + + if(a_dot_nab < 0) + { + // Outside of edge a->b + + const btScalar ba_l2 = ba.length2(); + const btScalar a_dot_ba = btDot(a->w, ba); + const btScalar b_dot_ba = btDot(b->w, ba); + + if(a_dot_ba > 0) + { + // Pick distance vertex a + dist = a->w.length(); + } + else if(b_dot_ba < 0) + { + // Pick distance vertex b + dist = b->w.length(); + } + else + { + // Pick distance to edge a->b + const btScalar a_dot_b = btDot(a->w, b->w); + dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0)); + } + + return true; + } + + return false; + } sFace* newface(sSV* a,sSV* b,sSV* c,bool forced) { if(m_stock.root) @@ -710,41 +745,48 @@ namespace gjkepa2_impl face->n = btCross(b->w-a->w,c->w-a->w); const btScalar l=face->n.length(); const bool v=l>EPA_ACCURACY; - face->p = btMin(btMin( - btDot(a->w,btCross(face->n,a->w-b->w)), - btDot(b->w,btCross(face->n,b->w-c->w))), - btDot(c->w,btCross(face->n,c->w-a->w))) / - (v?l:1); - face->p = face->p>=-EPA_INSIDE_EPS?0:face->p; + if(v) { - face->d = btDot(a->w,face->n)/l; - face->n /= l; - if(forced||(face->d>=-EPA_PLANE_EPS)) + if(!(getedgedist(face, a, b, face->d) || + getedgedist(face, b, c, face->d) || + getedgedist(face, c, a, face->d))) + { + // Origin projects to the interior of the triangle + // Use distance to triangle plane + face->d = btDot(a->w, face->n) / l; + } + + face->n /= l; + if(forced || (face->d >= -EPA_PLANE_EPS)) { - return(face); - } else m_status=eStatus::NonConvex; - } else m_status=eStatus::Degenerated; - remove(m_hull,face); - append(m_stock,face); - return(0); + return face; + } + else + m_status=eStatus::NonConvex; + } + else + m_status=eStatus::Degenerated; + + remove(m_hull, face); + append(m_stock, face); + return 0; + } - m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces; - return(0); + m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces; + return 0; } sFace* findbest() { sFace* minf=m_hull.root; btScalar mind=minf->d*minf->d; - btScalar maxp=minf->p; for(sFace* f=minf->l[1];f;f=f->l[1]) { const btScalar sqd=f->d*f->d; - if((f->p>=maxp)&&(sqd<mind)) + if(sqd<mind) { minf=f; mind=sqd; - maxp=f->p; } } return(minf); |